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Ryan Malloy 5252d1d73c Add hardware reference docs (A3981, K60, RYS352A) 
Allegro A3981 stepper motor driver: datasheet, KiCad symbols/footprint,
3D model (TSSOP-28). Two per G2 board, SPI-controlled, AUTO microstep.

NXP MK60DN512VLQ10 (Kinetis K60): datasheet and 1300-page reference
manual. Cortex-M4 96MHz MCU running the G2 firmware.

Reyax RYS352A GPS module: datasheet and PAIR command guide.
GPS receiver on the G2 board (used for auto-location/satellite lookup).

All extracted as markdown + page images + vector SVGs for LLM context.
Binary assets (PDFs, PNGs, SVGs, STEP, WRL) stored via git-lfs.
2026-02-14 18:36:42 -07:00

113 lines
40 KiB (Stored with Git LFS)
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="9" font-family="CourierStd"><tspan y="7.02" x="0">:</tspan><tspan y="16.56" x="0">:</tspan><tspan y="26.099999" x="0 5.4 10.8 16.2 21.6 27 32.4 37.800004 43.200006 48.600008 54.000009 59.40001 64.80001 70.20001 75.60001 81.000019 86.40002 91.80002">*CHCONFIG2 = 0x00;</tspan><tspan y="35.64" x="0 5.4 10.8 16.2 21.6 27 32.4 37.800004 43.200006 48.600008 54.000009 59.40001 64.80001 70.20001 75.60001 81.000019 86.40002 91.80002">*CHCONFIG2 = 0x85;</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="14" font-family="TimesLTStd"><tspan y="58.41" x="-.002 10.106001 13.998001 19.444003 25.660004 32.660005 36.552007 40.444009 47.444009 54.444009 57.944009 64.16001 67.66001 73.10601 80.10601 87.10601 91.76801 97.98402">Disabling a source</tspan><tspan y="82.80999" x="-.002 10.106001 13.606001 20.606 26.822003 31.484004 35.376005 39.268007 45.484006 52.484006 56.376008 62.592008 67.254009 70.754009 80.86201 93.30801 103.41601 106.91601 112.36201 119.36201 126.36201 131.024 137.24 143.45601 146.95601 157.848 164.06401 171.06401 174.56401 181.56401 187.78002 191.28002 198.28002 202.17201 207.61801 213.83402 220.83402 224.72602 230.94202 237.94202 241.44202 248.44202 255.44202 258.94203 265.94203 272.94203 276.834 280.334 290.44203 295.104 298.996 302.888 306.78 313.78 320.78 324.28 328.172 335.172 341.388 344.888 351.104 358.104 362.766 367.42799 373.64399 379.09 386.09 393.09 400.09 407.09 410.982 417.982 424.982 428.482 433.928 440.928 447.928 452.59 458.806 465.022 468.522 475.522 481.738 485.63 492.63">A particular DMA source may be disabled by not writing the corresponding source value</tspan><tspan y="98.80999" x="-.00202 3.8899806 10.88998 14.7819809 21.78198 25.28198 31.497982 38.497983 45.497983 48.997983 55.997983 60.65998 64.15998 68.05198 75.05198 81.26798 84.76798 94.10599 104.21399 113.55199 121.33599 131.44399 134.94399 139.60599 145.82199 152.82199 156.71399 162.15999 166.05199 172.26799 176.93 182.37599 185.87599 189.37599 199.484 206.484 213.484 217.37599 221.26799 225.15999 232.15999 239.15999 245.37599 249.26799 253.15999 260.15998 263.65998 267.15998 272.606 279.606 290.498 296.714 300.214 311.106 318.106 325.106 332.106 335.998 342.214 346.87599 352.322 359.322 365.538 371.754 375.646 380.30799 384.19999 390.416 393.916 400.132 407.132 414.132 418.79399 422.68598 429.68598 436.68598 441.34797 447.56398 451.45597 455.34797 462.34797 469.34797 472.84797 483.73997 489.95597">into any of the CHCFG registers. Additionally, some module-specific configuration may</tspan><tspan y="114.80999" x="-.00197 6.99803 13.214031 16.714032 23.714032 29.93003 36.14603 42.36203 47.80803 53.25403 59.470029 64.13203 71.13203 74.63203 78.13203 85.91603 92.132038 98.34804 101.84804 105.740039 112.740039 118.95604 122.45604 128.67205 135.67205 142.67205 147.33405 154.33405 161.33405 165.99605 169.88805 176.10405 179.99605 186.21205 189.71205 195.15805 201.37406 207.59006 211.48206 215.37406 222.37406 229.37406 232.87406 237.53606 244.53606 249.19806 252.69806 263.59007 270.59007 275.25205 281.46806 284.96806 291.96806 298.18406 302.07606 308.29206 312.18406 316.07606 321.52207">be necessary. See the appropriate section for more details.</tspan><tspan y="139.20999" x="-.002 8.552 15.552 19.052 24.498002 34.606004 38.498006 42.390008 48.606008 55.606008 59.106008 62.99801 69.99801 76.21401 79.71401 85.16001 92.16001 99.16001 103.822017 110.03802 116.25402 119.75402 126.75402 131.41602 134.91602 141.13202 144.63202 154.74002 167.18602 177.29402 180.79402 187.01003 194.01003 200.22603 207.22603 214.22603 220.44203 224.33403">To switch the source of a DMA channel:</tspan><tspan y="163.60999" x="7.5020105 14.50201 23.99401 34.102014 37.994016 43.440015 49.656015 56.656015 60.548017 66.764019 70.264019 74.15601 81.15601 87.37202 90.87202 100.98002 113.42602 123.53402 127.03402 133.25002 140.25002 146.46602 153.46602 160.46602 166.68202 170.57402 174.07402 177.96602 184.96602 188.46602 192.35802 199.35802 205.57402 209.07402 219.18202 231.62802 241.73603 245.23603 251.45203 258.45204 265.45204 268.95204 273.614 279.83003 284.492 290.708 297.708 304.708 309.37 313.262 320.262 327.262 331.92399 338.13999 341.63999 345.53199 352.53199 358.748 362.248 368.464 375.464 381.68 388.68 395.68 401.896 405.788 409.288 413.94999 420.94999 425.61198 429.11198 433.00398 440.00398 446.21998 449.71998 456.71998 462.93598">1.Disable the DMA channel in the DMA and re-configure the channel for the new</tspan><tspan y="179.60999" x="23.99401 29.440012 36.44001 43.44001 48.10201 54.31801 60.534009">source.</tspan><tspan y="195.60999" x="7.5020105 14.50201 23.99401 33.332014 37.224016 43.440015 49.656015 54.318014 57.818014 61.710016 68.710018 74.92602 78.42602 87.76402 97.872028 107.21002 114.994029 125.10203 129.76403 138.31803 148.42603 157.76403 166.31803 170.98003 174.48003 180.69603 187.69603 194.69603 198.19603 207.53403 217.64203 226.98003 234.76403 244.87203 249.53403 258.088 267.42604 272.088 282.196 286.858 290.358 297.358 301.25 305.142 310.588 314.088 321.088 325.75 329.25 333.142 340.142 346.358 349.858 359.966 372.41203 382.52003 386.02003 392.23603 399.23603 405.45204 412.45204 419.45204 425.66804 429.56004">2.Clear the CHCFG[ENBL] and CHCFG[TRIG] bits of the DMA channel.</tspan><tspan y="211.60999" x="7.5020506 14.50205 23.994051 31.778052 37.994054 41.886056 48.102056 54.318056 58.210058 61.710058 65.60206 72.60206 78.81806 82.31806 87.76406 94.76406 101.76406 106.42606 112.64207 118.85807 122.35807 126.25007 133.25006 136.75006 143.75006 149.96607 153.46607 158.12807 165.12807 172.12807 176.02007 182.23607 189.23607 192.73607 196.62807 203.62807 207.12807 211.02007 218.02007 224.23607 227.73607 237.84407 250.29007 260.39808 263.89808 270.11408 277.11408 283.33009 290.33009 297.33009 303.54609 307.43809 310.93809 314.43809 327.65409 332.31608 336.20808 340.10008 346.31608 349.81608 353.70808 360.70808 364.20808 368.10008 375.10008 381.31608 384.81608 391.03208 398.03208 402.69407 407.35606 413.57206 419.01808 426.01808 433.01808 440.01808 447.01808 450.91007 457.91007">3.Select the source to be routed to the DMA channel. Write to the corresponding</tspan><tspan y="227.60999" x="23.99404 33.33204 43.44004 52.77804 60.562044 70.670047 74.170047 78.83205 85.04805 92.04805 95.94005 101.38605 105.278049 111.49405 116.15605 119.65605 123.15605 129.37206 136.37206 141.81806 148.81806 153.48006 157.37206 164.37206 171.37206 174.87206 178.76406 185.76406 191.98006 195.87206 199.37206 203.26406 210.26406 216.48006 219.98006 229.31806 239.42606 248.76406 256.54808 266.65608 271.31806 279.87205 289.98005 299.31806 307.87205 312.53404 316.03404 322.25004 329.25004 336.25004 339.75004 349.08805 359.19606 368.53407 376.31806 386.42607 391.08805 399.64204 408.98005 413.64204 423.75004 428.41203 431.91203 438.91203 442.80403 446.696 452.14204 455.64204 461.85804 466.52003 472.73603 476.23603 481.68205 487.89805 491.79005">CHCFG register, ensuring that the CHCFG[ENBL] and CHCFG[TRIG] bits are set.</tspan><tspan y="253.60999" x="-.0019702912 8.55203 15.55203 19.052029 24.49803 34.60603 38.49803 42.390035 48.606035 55.606035 59.106035 69.214038 81.660037 91.768039 95.268039 101.48404 108.48404 114.70004 121.70004 128.70005 134.91605 138.80805 142.30805 149.30805 152.80805 157.47005 162.13205 169.13205 180.02405 183.52405 188.97005 195.97005 202.97005 207.63205 213.84806 220.06406 223.56406 230.56406 237.56406 241.06406 244.95606 249.61806 255.83406 262.83406 268.28007 279.17207 283.06407 286.95606 290.45606 294.34806 301.34806 304.84806 310.29408 317.29408 324.29408 328.95606 335.17207 341.38807 344.88807 351.88807 358.88807 362.38807 366.28007 370.94206 377.15806 384.15806 389.60408 400.49607 404.38807 408.28007">To switch DMA channel 8 from source #5 transmit to source #7 transmit:</tspan><tspan y="269.61003" x="7.50205 14.50205 23.994051 28.656052 35.65605 39.15605 43.048055 50.048055 56.264055 59.764055 69.872058 82.318058 92.426059 95.926059 102.14206 109.14206 116.14206 120.80406 124.69606 131.69606 138.69606 143.35807 149.57407 153.46607 157.35807 164.35807 171.35807 174.85807 179.52007 185.73607 192.73607 196.62807 202.07407 205.96607 212.18207 216.84407 222.29007 225.79007 229.29007 236.29007 240.18207 245.62807 251.84407 258.84407 262.73606 268.95207 272.45207 282.56007 295.00608 305.11408 308.61408 314.83009 321.83009 328.04609 335.04609 342.04609 348.2621 352.15409 355.65409 362.65409 366.15409 372.3701 379.3701 386.3701 389.8701 394.53208 400.74809 405.41007 411.62608 418.62608 425.62608 430.28807 434.18006 441.18006 448.18006 452.84205 459.05805 462.55805 466.45005 470.34205 473.84205 477.73405">1.In the DMA configuration registers, disable DMA channel 8 and re-configure it to</tspan><tspan y="285.61003" x="23.99404 30.99404 37.21004 44.21004 51.21004 55.102045 61.318044 64.81804 68.71004 75.71004 81.92604 85.42604 89.31804 93.98004 100.196048 107.196048 112.642047 117.30405 123.52005 128.18206 133.62805 137.12805 141.02005 148.02005 151.52005 158.52005 164.73606 169.39806 173.29006 180.29006 187.29006 193.50606 198.16806 204.38407 208.27606 211.77606 217.22206 221.11406 228.11406 232.00606 235.50606 242.50606 246.00606 249.50606 258.06007 265.06007 268.95207 274.39808 277.89808 284.11408 291.11408 297.33009 308.22209 315.22209 319.11408 325.33009 328.83009 335.04609 340.4921 345.9381 352.9381 363.8301 370.0461 375.49214 378.99214 385.20814 392.20814 398.42414 405.42414 412.42414 418.64015 422.53215 426.03215 433.03215 436.53215 443.53215 450.53215 456.74815 462.19416 469.19416 471.71415">handle the transfers to peripheral slot 7. This example assumes channel 8 doesn't</tspan><tspan y="301.61003" x="23.99407 30.99407 37.21007 44.21007 50.42607 53.92607 57.818075 62.480073 66.37207 73.37207 80.37207 86.58807 91.25008 95.142078 102.142078 109.142078 112.642078 118.85808 125.07408 132.07408 138.29009 145.29009 149.18209 153.07408 156.96608 160.85808 167.85808">have triggering capability.</tspan><tspan y="317.61003" x="7.5020697 14.502069 23.99407 37.21007 41.87207 45.764074 49.656076 55.872076 59.372076 66.37207 73.37207 80.37207 87.37207 90.87207 94.76407 101.76407 105.26407 114.602069 124.71007 134.04807 141.83206 151.94007 158.94007 162.44007 167.10207 174.10207 180.31807 185.76407 191.98007 195.48007 201.69608 208.69608 215.69608 220.35808 226.57408 232.02008 237.46608 240.96608 248.86208 252.36208 259.36207 266.36207 273.36207 280.36207 285.02406">2.Write 0x00 to CHCFG8 (base address + 0x08).</tspan><tspan y="333.61003" x="7.5020596 14.50206 23.99406 37.21006 41.87206 45.76406 49.656064 55.872064 59.372064 66.37206 73.37206 80.37206 87.37206 90.87206 94.76406 101.76406 105.26406 114.602069 124.71007 134.04807 141.83206 151.94007 158.94007 162.44007 167.10207 174.10207 180.31807 185.76407 191.98007 195.48007 201.69608 208.69608 215.69608 220.35808 226.57408 232.02008 237.46608 240.96608 248.86208 252.36208 259.36207 266.36207 273.36207 280.36207 285.02406 288.52406 292.02406 296.68605 301.34803 308.34803 311.84803 315.74003 322.74003 326.63203 332.07804 335.57804 341.79405 348.79405 355.01005 365.90205 372.90205 376.79405 383.01005 386.51005 390.01005 395.45606 401.67207 405.56407 409.45606 413.34806 420.34806 427.34806 430.84806 434.74006 441.74006">3.Write 0x87 to CHCFG8 (base address + 0x08). (In this example, setting the</tspan><tspan y="349.61003" x="23.99408 33.33208 43.440084 52.778085 60.562086 70.67008 75.332088 83.886089 93.22409 97.88609 107.994098 112.6561 116.1561 123.1561 127.048099 130.9401 134.4401 144.5481 151.5481 158.5481 162.4401 169.4401 172.9401 179.9401 186.1561 193.1561 199.3721 202.8721 209.8721 216.8721 220.3721 226.5881 231.2501 235.91211 242.12812 248.34412 252.23612 255.73612 259.2361 266.2361 273.2361 279.45213 282.95213 286.84413 293.84413 297.34413 301.2361 308.2361 314.45213 317.95213 324.16813 329.61415 335.06016 342.06016 352.95216 359.95216 363.84416 367.73616 374.73616 381.73616 385.23616 389.12815 396.12815 402.34416 406.23616 409.73616 415.95216 422.95216 429.16816 436.16816 443.16816 449.38417 453.27616 458.72218 462.22218 469.22218 472.72218 479.72218 486.72218 492.93818">CHCFG[TRIG] bit would have no effect, due to the assumption that channels 8 does</tspan><tspan y="365.61003" x="23.99411 30.99411 37.99411 41.886114 45.386114 50.83211 57.83211 64.83211 71.83211 78.83211 83.49411 87.38611 90.88611 94.77811 101.77811 107.99411 111.49411 118.49411 124.71011 129.37212 133.26412 140.26412 147.26412 151.15612 157.37212 160.87212 164.76412 169.42612 173.31812 180.31812 187.31812 193.53412 198.19612 202.08812 209.08812 216.08812 219.58812 224.25012 231.25012 238.25012 244.46613 248.35813 252.25012 259.25013 266.25013 272.46614 276.35813 280.25013 284.14213 291.14213 295.8041">not support the periodic triggering functionality).</tspan><tspan y="391.61003" x="-.0018997192 8.5521 15.5521 21.7681 25.2681 29.930102 36.9301 40.8221 44.714105 51.714105 61.822107 65.7141 72.7141 79.7141 83.2141 89.43011 96.43011 103.43011 109.64611 113.14611 119.362117 126.362117 132.57811 143.47011 150.47011 154.3621 160.57811 164.07811 167.97011 171.8621 175.7541 182.7541 188.2001 192.0921 196.7541 202.97011 206.8621 213.07811 218.52411 222.02411 227.47011 231.3621 237.57811 244.57811 250.02411 253.52411 260.5241 264.0241 270.2401 277.2401 284.2401 287.7401 294.7401 298.2401 304.45613 311.45613 318.45613 325.45613 331.67213">The following code example illustrates steps 2 and 3 above:</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 54)" font-size="9" font-family="CourierStd"><tspan y="413.58" x="-.0008997192 5.3991005 10.799101 16.1991 21.5991 26.9991 32.3991 37.799104 43.199106 48.599107 53.999109 59.39911 64.79911 70.19911 75.59911 80.999118 86.39912 91.79912 97.19912 102.59912">In File registers.h:</tspan><tspan y="423.11997" x="-.0008997192 5.3991005 10.799101 16.1991 21.5991 26.9991 32.3991 37.799104 43.199106 48.599107 53.999109 59.39911 64.79911 70.19911 75.59911 80.999118 86.39912 91.79912 97.19912 102.59912 107.99912 113.399127 118.799129 124.19913 129.59912 134.99912 140.39911 145.7991 151.1991 156.59909 161.99909 167.39908 172.79907 178.19907 183.59906 188.99906 194.39905 199.79904 205.19904 210.59903 215.99903 221.39902 226.79901 232.199 237.599 242.999 248.39899 253.79898 259.19898 264.59898 269.99897 275.39897 280.79896 286.19895 291.59895 296.99894 302.39894 307.79893 313.1989">#define DMAMUX_BASE_ADDR 0xFC084000/* Example only ! */</tspan><tspan y="432.65995" x="-.0008997192 5.3991005 10.799101 16.1991 21.5991 26.9991 32.3991 37.799104 43.199106 48.599107 53.999109 59.39911 64.79911 70.19911 75.59911 80.999118 86.39912 91.79912 97.19912 102.59912 107.99912 113.399127 118.799129 124.19913 129.59912 134.99912 140.39911 145.7991 151.1991 156.59909 161.99909 167.39908 172.79907 178.19907 183.59906 188.99906 194.39905 199.79904 205.19904 210.59903 215.99903 221.39902 226.79901 232.199 237.599 242.999">/* Following example assumes char is 8-bits */</tspan><tspan y="442.19993" x="-.0008997192 5.3991005 10.799101 16.1991 21.5991 26.9991 32.3991 37.799104 43.199106 48.599107 53.999109 59.39911 64.79911 70.19911 75.59911 80.999118 86.39912 91.79912 97.19912 102.59912 107.99912 113.399127 118.799129 124.19913 129.59912 134.99912 140.39911 145.7991 151.1991 156.59909 161.99909 167.39908 172.79907 178.19907 183.59906 188.99906 194.39905 199.79904 205.19904 210.59903 215.99903 221.39902 226.79901 232.199 237.599 242.999 248.39899 253.79898 259.19898 264.59898 269.99897 275.39897 280.79896 286.19895 291.59895 296.99894 302.39894 307.79893 313.1989 318.5989 323.9989 329.3989 334.7989 340.19889 345.59889 350.99888 356.39888 361.79887 367.19886 372.59886 377.99885 383.39884 388.79884 394.19883 399.59883 404.9988 410.3988 415.7988 421.1988 426.5988 431.99879 437.39878 442.79878 448.19877 453.59877 458.99876 464.39875 469.79875 475.19874">volatile unsigned char *CHCONFIG0 = (volatile unsigned char *) (DMAMUX_BASE_ADDR+0x0000);</tspan><tspan y="451.7399" x="-.0008597192 5.3991405 10.799141 16.19914 21.59914 26.99914 32.39914 37.79914 43.199144 48.599145 53.999147 59.399148 64.79915 70.19915 75.59915 80.99915 86.399158 91.79916 97.19916 102.59916 107.99916 113.39916 118.799167 124.199169 129.59917 134.99916 140.39916 145.79915 151.19915 156.59914 161.99913 167.39913 172.79912 178.19911 183.5991 188.9991 194.3991 199.79909 205.19908 210.59908 215.99907 221.39907 226.79906 232.19905 237.59905 242.99904 248.39904 253.79903 259.19905 264.59904 269.99903 275.39903 280.799 286.199 291.599 296.999 302.399 307.79899 313.19898 318.59898 323.99897 329.39897 334.79896 340.19895 345.59895 350.99894 356.39894 361.79893 367.1989 372.5989 377.9989 383.3989 388.7989 394.19889 399.59889 404.99888 410.39888 415.79887 421.19886 426.59886 431.99885 437.39884 442.79884 448.19883 453.59883 458.9988 464.3988 469.7988 475.1988">volatile unsigned char *CHCONFIG1 = (volatile unsigned char *) (DMAMUX_BASE_ADDR+0x0001);</tspan><tspan y="461.27989" x="-.0008597192 5.3991405 10.799141 16.19914 21.59914 26.99914 32.39914 37.79914 43.199144 48.599145 53.999147 59.399148 64.79915 70.19915 75.59915 80.99915 86.399158 91.79916 97.19916 102.59916 107.99916 113.39916 118.799167 124.199169 129.59917 134.99916 140.39916 145.79915 151.19915 156.59914 161.99913 167.39913 172.79912 178.19911 183.5991 188.9991 194.3991 199.79909 205.19908 210.59908 215.99907 221.39907 226.79906 232.19905 237.59905 242.99904 248.39904 253.79903 259.19905 264.59904 269.99903 275.39903 280.799 286.199 291.599 296.999 302.399 307.79899 313.19898 318.59898 323.99897 329.39897 334.79896 340.19895 345.59895 350.99894 356.39894 361.79893 367.1989 372.5989 377.9989 383.3989 388.7989 394.19889 399.59889 404.99888 410.39888 415.79887 421.19886 426.59886 431.99885 437.39884 442.79884 448.19883 453.59883 458.9988 464.3988 469.7988 475.1988">volatile unsigned char *CHCONFIG2 = (volatile unsigned char *) (DMAMUX_BASE_ADDR+0x0002);</tspan><tspan y="470.81986" x="-.0008597192 5.3991405 10.799141 16.19914 21.59914 26.99914 32.39914 37.79914 43.199144 48.599145 53.999147 59.399148 64.79915 70.19915 75.59915 80.99915 86.399158 91.79916 97.19916 102.59916 107.99916 113.39916 118.799167 124.199169 129.59917 134.99916 140.39916 145.79915 151.19915 156.59914 161.99913 167.39913 172.79912 178.19911 183.5991 188.9991 194.3991 199.79909 205.19908 210.59908 215.99907 221.39907 226.79906 232.19905 237.59905 242.99904 248.39904 253.79903 259.19905 264.59904 269.99903 275.39903 280.799 286.199 291.599 296.999 302.399 307.79899 313.19898 318.59898 323.99897 329.39897 334.79896 340.19895 345.59895 350.99894 356.39894 361.79893 367.1989 372.5989 377.9989 383.3989 388.7989 394.19889 399.59889 404.99888 410.39888 415.79887 421.19886 426.59886 431.99885 437.39884 442.79884 448.19883 453.59883 458.9988 464.3988 469.7988 475.1988">volatile unsigned char *CHCONFIG3 = (volatile unsigned char *) (DMAMUX_BASE_ADDR+0x0003);</tspan><tspan y="480.35984" x="-.0008597192 5.3991405 10.799141 16.19914 21.59914 26.99914 32.39914 37.79914 43.199144 48.599145 53.999147 59.399148 64.79915 70.19915 75.59915 80.99915 86.399158 91.79916 97.19916 102.59916 107.99916 113.39916 118.799167 124.199169 129.59917 134.99916 140.39916 145.79915 151.19915 156.59914 161.99913 167.39913 172.79912 178.19911 183.5991 188.9991 194.3991 199.79909 205.19908 210.59908 215.99907 221.39907 226.79906 232.19905 237.59905 242.99904 248.39904 253.79903 259.19905 264.59904 269.99903 275.39903 280.799 286.199 291.599 296.999 302.399 307.79899 313.19898 318.59898 323.99897 329.39897 334.79896 340.19895 345.59895 350.99894 356.39894 361.79893 367.1989 372.5989 377.9989 383.3989 388.7989 394.19889 399.59889 404.99888 410.39888 415.79887 421.19886 426.59886 431.99885 437.39884 442.79884 448.19883 453.59883 458.9988 464.3988 469.7988 475.1988">volatile unsigned char *CHCONFIG4 = (volatile unsigned char *) (DMAMUX_BASE_ADDR+0x0004);</tspan><tspan y="489.8998" x="-.0008597192 5.3991405 10.799141 16.19914 21.59914 26.99914 32.39914 37.79914 43.199144 48.599145 53.999147 59.399148 64.79915 70.19915 75.59915 80.99915 86.399158 91.79916 97.19916 102.59916 107.99916 113.39916 118.799167 124.199169 129.59917 134.99916 140.39916 145.79915 151.19915 156.59914 161.99913 167.39913 172.79912 178.19911 183.5991 188.9991 194.3991 199.79909 205.19908 210.59908 215.99907 221.39907 226.79906 232.19905 237.59905 242.99904 248.39904 253.79903 259.19905 264.59904 269.99903 275.39903 280.799 286.199 291.599 296.999 302.399 307.79899 313.19898 318.59898 323.99897 329.39897 334.79896 340.19895 345.59895 350.99894 356.39894 361.79893 367.1989 372.5989 377.9989 383.3989 388.7989 394.19889 399.59889 404.99888 410.39888 415.79887 421.19886 426.59886 431.99885 437.39884 442.79884 448.19883 453.59883 458.9988 464.3988 469.7988 475.1988">volatile unsigned char *CHCONFIG5 = (volatile unsigned char *) (DMAMUX_BASE_ADDR+0x0005);</tspan><tspan y="499.4398" x="-.0008597192 5.3991405 10.799141 16.19914 21.59914 26.99914 32.39914 37.79914 43.199144 48.599145 53.999147 59.399148 64.79915 70.19915 75.59915 80.99915 86.399158 91.79916 97.19916 102.59916 107.99916 113.39916 118.799167 124.199169 129.59917 134.99916 140.39916 145.79915 151.19915 156.59914 161.99913 167.39913 172.79912 178.19911 183.5991 188.9991 194.3991 199.79909 205.19908 210.59908 215.99907 221.39907 226.79906 232.19905 237.59905 242.99904 248.39904 253.79903 259.19905 264.59904 269.99903 275.39903 280.799 286.199 291.599 296.999 302.399 307.79899 313.19898 318.59898 323.99897 329.39897 334.79896 340.19895 345.59895 350.99894 356.39894 361.79893 367.1989 372.5989 377.9989 383.3989 388.7989 394.19889 399.59889 404.99888 410.39888 415.79887 421.19886 426.59886 431.99885 437.39884 442.79884 448.19883 453.59883 458.9988 464.3988 469.7988 475.1988">volatile unsigned char *CHCONFIG6 = (volatile unsigned char *) (DMAMUX_BASE_ADDR+0x0006);</tspan><tspan y="508.97978" x="-.0008597192 5.3991405 10.799141 16.19914 21.59914 26.99914 32.39914 37.79914 43.199144 48.599145 53.999147 59.399148 64.79915 70.19915 75.59915 80.99915 86.399158 91.79916 97.19916 102.59916 107.99916 113.39916 118.799167 124.199169 129.59917 134.99916 140.39916 145.79915 151.19915 156.59914 161.99913 167.39913 172.79912 178.19911 183.5991 188.9991 194.3991 199.79909 205.19908 210.59908 215.99907 221.39907 226.79906 232.19905 237.59905 242.99904 248.39904 253.79903 259.19905 264.59904 269.99903 275.39903 280.799 286.199 291.599 296.999 302.399 307.79899 313.19898 318.59898 323.99897 329.39897 334.79896 340.19895 345.59895 350.99894 356.39894 361.79893 367.1989 372.5989 377.9989 383.3989 388.7989 394.19889 399.59889 404.99888 410.39888 415.79887 421.19886 426.59886 431.99885 437.39884 442.79884 448.19883 453.59883 458.9988 464.3988 469.7988 475.1988">volatile unsigned char *CHCONFIG7 = (volatile unsigned char *) (DMAMUX_BASE_ADDR+0x0007);</tspan><tspan y="518.5198" x="-.0008597192 5.3991405 10.799141 16.19914 21.59914 26.99914 32.39914 37.79914 43.199144 48.599145 53.999147 59.399148 64.79915 70.19915 75.59915 80.99915 86.399158 91.79916 97.19916 102.59916 107.99916 113.39916 118.799167 124.199169 129.59917 134.99916 140.39916 145.79915 151.19915 156.59914 161.99913 167.39913 172.79912 178.19911 183.5991 188.9991 194.3991 199.79909 205.19908 210.59908 215.99907 221.39907 226.79906 232.19905 237.59905 242.99904 248.39904 253.79903 259.19905 264.59904 269.99903 275.39903 280.799 286.199 291.599 296.999 302.399 307.79899 313.19898 318.59898 323.99897 329.39897 334.79896 340.19895 345.59895 350.99894 356.39894 361.79893 367.1989 372.5989 377.9989 383.3989 388.7989 394.19889 399.59889 404.99888 410.39888 415.79887 421.19886 426.59886 431.99885 437.39884 442.79884 448.19883 453.59883 458.9988 464.3988 469.7988 475.1988">volatile unsigned char *CHCONFIG8 = (volatile unsigned char *) (DMAMUX_BASE_ADDR+0x0008);</tspan><tspan y="528.0598" x="-.0008597192 5.3991405 10.799141 16.19914 21.59914 26.99914 32.39914 37.79914 43.199144 48.599145 53.999147 59.399148 64.79915 70.19915 75.59915 80.99915 86.399158 91.79916 97.19916 102.59916 107.99916 113.39916 118.799167 124.199169 129.59917 134.99916 140.39916 145.79915 151.19915 156.59914 161.99913 167.39913 172.79912 178.19911 183.5991 188.9991 194.3991 199.79909 205.19908 210.59908 215.99907 221.39907 226.79906 232.19905 237.59905 242.99904 248.39904 253.79903 259.19905 264.59904 269.99903 275.39903 280.799 286.199 291.599 296.999 302.399 307.79899 313.19898 318.59898 323.99897 329.39897 334.79896 340.19895 345.59895 350.99894 356.39894 361.79893 367.1989 372.5989 377.9989 383.3989 388.7989 394.19889 399.59889 404.99888 410.39888 415.79887 421.19886 426.59886 431.99885 437.39884 442.79884 448.19883 453.59883 458.9988 464.3988 469.7988 475.1988">volatile unsigned char *CHCONFIG9 = (volatile unsigned char *) (DMAMUX_BASE_ADDR+0x0009);</tspan><tspan y="537.59988" x="-.0008597192 5.3991405 10.799141 16.19914 21.59914 26.99914 32.39914 37.79914 43.199144 48.599145 53.999147 59.399148 64.79915 70.19915 75.59915 80.99915 86.399158 91.79916 97.19916 102.59916 107.99916 113.39916 118.799167 124.199169 129.59917 134.99916 140.39916 145.79915 151.19915 156.59914 161.99913 167.39913 172.79912 178.19911 183.5991 188.9991 194.3991 199.79909 205.19908 210.59908 215.99907 221.39907 226.79906 232.19905 237.59905 242.99904 248.39904 253.79903 259.19905 264.59904 269.99903 275.39903 280.799 286.199 291.599 296.999 302.399 307.79899 313.19898 318.59898 323.99897 329.39897 334.79896 340.19895 345.59895 350.99894 356.39894 361.79893 367.1989 372.5989 377.9989 383.3989 388.7989 394.19889 399.59889 404.99888 410.39888 415.79887 421.19886 426.59886 431.99885 437.39884 442.79884 448.19883 453.59883 458.9988 464.3988 469.7988 475.1988">volatile unsigned char *CHCONFIG10= (volatile unsigned char *) (DMAMUX_BASE_ADDR+0x000A);</tspan><tspan y="547.1399" x="-.0008597192 5.3991405 10.799141 16.19914 21.59914 26.99914 32.39914 37.79914 43.199144 48.599145 53.999147 59.399148 64.79915 70.19915 75.59915 80.99915 86.399158 91.79916 97.19916 102.59916 107.99916 113.39916 118.799167 124.199169 129.59917 134.99916 140.39916 145.79915 151.19915 156.59914 161.99913 167.39913 172.79912 178.19911 183.5991 188.9991 194.3991 199.79909 205.19908 210.59908 215.99907 221.39907 226.79906 232.19905 237.59905 242.99904 248.39904 253.79903 259.19905 264.59904 269.99903 275.39903 280.799 286.199 291.599 296.999 302.399 307.79899 313.19898 318.59898 323.99897 329.39897 334.79896 340.19895 345.59895 350.99894 356.39894 361.79893 367.1989 372.5989 377.9989 383.3989 388.7989 394.19889 399.59889 404.99888 410.39888 415.79887 421.19886 426.59886 431.99885 437.39884 442.79884 448.19883 453.59883 458.9988 464.3988 469.7988 475.1988">volatile unsigned char *CHCONFIG11= (volatile unsigned char *) (DMAMUX_BASE_ADDR+0x000B);</tspan><tspan y="556.67996" x="-.0008597192 5.3991405 10.799141 16.19914 21.59914 26.99914 32.39914 37.79914 43.199144 48.599145 53.999147 59.399148 64.79915 70.19915 75.59915 80.99915 86.399158 91.79916 97.19916 102.59916 107.99916 113.39916 118.799167 124.199169 129.59917 134.99916 140.39916 145.79915 151.19915 156.59914 161.99913 167.39913 172.79912 178.19911 183.5991 188.9991 194.3991 199.79909 205.19908 210.59908 215.99907 221.39907 226.79906 232.19905 237.59905 242.99904 248.39904 253.79903 259.19905 264.59904 269.99903 275.39903 280.799 286.199 291.599 296.999 302.399 307.79899 313.19898 318.59898 323.99897 329.39897 334.79896 340.19895 345.59895 350.99894 356.39894 361.79893 367.1989 372.5989 377.9989 383.3989 388.7989 394.19889 399.59889 404.99888 410.39888 415.79887 421.19886 426.59886 431.99885 437.39884 442.79884 448.19883 453.59883 458.9988 464.3988 469.7988 475.1988">volatile unsigned char *CHCONFIG12= (volatile unsigned char *) (DMAMUX_BASE_ADDR+0x000C);</tspan><tspan y="566.22" x="-.0008597192 5.3991405 10.799141 16.19914 21.59914 26.99914 32.39914 37.79914 43.199144 48.599145 53.999147 59.399148 64.79915 70.19915 75.59915 80.99915 86.399158 91.79916 97.19916 102.59916 107.99916 113.39916 118.799167 124.199169 129.59917 134.99916 140.39916 145.79915 151.19915 156.59914 161.99913 167.39913 172.79912 178.19911 183.5991 188.9991 194.3991 199.79909 205.19908 210.59908 215.99907 221.39907 226.79906 232.19905 237.59905 242.99904 248.39904 253.79903 259.19905 264.59904 269.99903 275.39903 280.799 286.199 291.599 296.999 302.399 307.79899 313.19898 318.59898 323.99897 329.39897 334.79896 340.19895 345.59895 350.99894 356.39894 361.79893 367.1989 372.5989 377.9989 383.3989 388.7989 394.19889 399.59889 404.99888 410.39888 415.79887 421.19886 426.59886 431.99885 437.39884 442.79884 448.19883 453.59883 458.9988 464.3988 469.7988 475.1988">volatile unsigned char *CHCONFIG13= (volatile unsigned char *) (DMAMUX_BASE_ADDR+0x000D);</tspan><tspan y="575.76" x="-.0008597192 5.3991405 10.799141 16.19914 21.59914 26.99914 32.39914 37.79914 43.199144 48.599145 53.999147 59.399148 64.79915 70.19915 75.59915 80.99915 86.399158 91.79916 97.19916 102.59916 107.99916 113.39916 118.799167 124.199169 129.59917 134.99916 140.39916 145.79915 151.19915 156.59914 161.99913 167.39913 172.79912 178.19911 183.5991 188.9991 194.3991 199.79909 205.19908 210.59908 215.99907 221.39907 226.79906 232.19905 237.59905 242.99904 248.39904 253.79903 259.19905 264.59904 269.99903 275.39903 280.799 286.199 291.599 296.999 302.399 307.79899 313.19898 318.59898 323.99897 329.39897 334.79896 340.19895 345.59895 350.99894 356.39894 361.79893 367.1989 372.5989 377.9989 383.3989 388.7989 394.19889 399.59889 404.99888 410.39888 415.79887 421.19886 426.59886 431.99885 437.39884 442.79884 448.19883 453.59883 458.9988 464.3988 469.7988 475.1988">volatile unsigned char *CHCONFIG14= (volatile unsigned char *) (DMAMUX_BASE_ADDR+0x000E);</tspan><tspan y="585.30007" x="-.0008597192 5.3991405 10.799141 16.19914 21.59914 26.99914 32.39914 37.79914 43.199144 48.599145 53.999147 59.399148 64.79915 70.19915 75.59915 80.99915 86.399158 91.79916 97.19916 102.59916 107.99916 113.39916 118.799167 124.199169 129.59917 134.99916 140.39916 145.79915 151.19915 156.59914 161.99913 167.39913 172.79912 178.19911 183.5991 188.9991 194.3991 199.79909 205.19908 210.59908 215.99907 221.39907 226.79906 232.19905 237.59905 242.99904 248.39904 253.79903 259.19905 264.59904 269.99903 275.39903 280.799 286.199 291.599 296.999 302.399 307.79899 313.19898 318.59898 323.99897 329.39897 334.79896 340.19895 345.59895 350.99894 356.39894 361.79893 367.1989 372.5989 377.9989 383.3989 388.7989 394.19889 399.59889 404.99888 410.39888 415.79887 421.19886 426.59886 431.99885 437.39884 442.79884 448.19883 453.59883 458.9988 464.3988 469.7988 475.1988">volatile unsigned char *CHCONFIG15= (volatile unsigned char *) (DMAMUX_BASE_ADDR+0x000F);</tspan><tspan y="604.3801" x="-.0008597192 5.3991405 10.799141 16.19914 21.59914 26.99914 32.39914 37.79914 43.199144 48.599145 53.999147 59.399148 64.79915 70.19915 75.59915">In File main.c:</tspan><tspan y="613.92019" x="-.0008597192 5.3991405 10.799141 16.19914 21.59914 26.99914 32.39914 37.79914 43.199144 48.599145 53.999147 59.399148 64.79915 70.19915 75.59915 80.99915 86.399158 91.79916 97.19916 102.59916 107.99916 113.39916">#include "registers.h"</tspan><tspan y="623.4602" x="-.0008597192">:</tspan><tspan y="633.00027" x="-.0008597192">:</tspan><tspan y="642.5403" x="-.0008597192 5.3991405 10.799141 16.19914 21.59914 26.99914 32.39914 37.79914 43.199144 48.599145 53.999147 59.399148 64.79915 70.19915 75.59915 80.99915 86.399158 91.79916">*CHCONFIG8 = 0x00;</tspan><tspan y="652.0803" x="-.0008597192 5.3991405 10.799141 16.19914 21.59914 26.99914 32.39914 37.79914 43.199144 48.599145 53.999147 59.399148 64.79915 70.19915 75.59915 80.99915 86.399158 91.79916">*CHCONFIG8 = 0x87;</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 54 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01031" x="259.452 265.94999 271.44898 276.45298 281.95198 284.94898 289.95298 293.45399 295.956 300.96 305.964 308.466 314.964 317.466 320.967 325.971 330.975 333.97203 336.47404 343.97105 348.97505 356.97605 362.47505 365.97605 370.98005 373.48207 379.98005 384.98405 389.98805 394.99205 399.99604 405.00004 407.50205 414.99906 420.49806 423.00007 425.99708 428.49909 433.99809 436.5001 441.5041 446.5081 451.5121 455.0131 457.5151 460.51213 467.0101 474.5071 481.0051 488.5021 495.0001 501.00309">Chapter 21 Direct Memory Access Multiplexer (DMAMUX)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.01 137.23 142.79 148.34999 151.12999 157.79999 163.90999 170.01999 173.34999 179.45999 185.01999 193.90999 196.68999 199.46999 205.02999 207.80998 215.02999 220.58998 223.91999 229.47998 233.36998 238.92998 245.03998 250.59998 256.15998 258.93998 267.26997 272.82997 278.93995 285.04994 290.60993 293.38993 296.16993 298.94993 306.16993 311.72993 317.28993 320.06993 322.8499 328.4099 331.1899 336.7499 342.8599 348.96989 351.74989 357.30989 362.86988 368.42988">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 54 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x=".00401 5.5030105 8.5000109 13.504011 18.50801 23.00801 27.50801 32.512014 34.510015 39.514017 42.016016 48.019014 53.023015 60.520017 62.518018 67.01802 72.02202 77.02602 82.030017 87.03401 91.53401 94.03601 99.04001 102.03701 104.53901 107.04101 109.54301 114.547008 119.047008">Freescale Semiconductor, Inc.</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 220.32 751.756)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="58.45 65.12 69.01 74.57 77.35 80.13 89.02 91.799999 97.909999 103.46999 107.35999">Preliminary</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 391.68 751.756)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="151.308 156.312 161.316">453</tspan></text>
<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 54 763.756)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="180.87 188.65 194.20999 200.31999 205.87999 209.76999 215.32999 218.10999 220.88999 228.10999 234.21999 239.77999 242.55998 248.66999 254.22998 259.78999 265.34999 268.12998 270.90998 277.01997 280.34996 286.45994 290.34996 299.23997 304.79997 308.12995 310.90995 317.01994">General Business Information</tspan></text>
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